From 43d0c05e0f40db91501e7a13814ac8e13579d128 Mon Sep 17 00:00:00 2001
From: Jeremie Deray <todo@stuff.com>
Date: Tue, 15 Aug 2017 15:49:35 +0200
Subject: [PATCH] replace mrpt::utils::CTicTac by ros::Time

---
 include/rf2o_laser_odometry/CLaserOdometry2D.h | 4 +---
 src/CLaserOdometry2D.cpp                       | 7 ++++---
 2 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/include/rf2o_laser_odometry/CLaserOdometry2D.h b/include/rf2o_laser_odometry/CLaserOdometry2D.h
index 27915e6..91e783f 100644
--- a/include/rf2o_laser_odometry/CLaserOdometry2D.h
+++ b/include/rf2o_laser_odometry/CLaserOdometry2D.h
@@ -160,9 +160,7 @@ protected:
 
   double lin_speed, ang_speed;
 
-    //mrpt::gui::CDisplayWindowPlots window;
-	mrpt::utils::CTicTac		m_clock;
-	float		m_runtime;
+  ros::Duration	m_runtime;
     ros::Time last_odom_time, current_scan_time;
 
   MatrixS31 kai_abs_;
diff --git a/src/CLaserOdometry2D.cpp b/src/CLaserOdometry2D.cpp
index 24c6339..91ec354 100644
--- a/src/CLaserOdometry2D.cpp
+++ b/src/CLaserOdometry2D.cpp
@@ -175,7 +175,8 @@ bool CLaserOdometry2D::odometryCalculation(const sensor_msgs::LaserScan& scan)
     for (unsigned int i = 0; i<width; i++)
         range_wf(i) = scan.ranges[i];
 
-    m_clock.Tic();
+    ros::Time start = ros::Time::now();
+
     createImagePyramid();
 
     //Coarse-to-fine scheme
@@ -225,9 +226,9 @@ bool CLaserOdometry2D::odometryCalculation(const sensor_msgs::LaserScan& scan)
         filterLevelSolution();
     }
 
-    m_runtime = 1000*m_clock.Tac();
+    m_runtime = ros::Time::now() - start;
 
-    ROS_INFO_COND(verbose, "[rf2o] execution time (ms): %f", m_runtime);
+    ROS_INFO_COND(verbose, "[rf2o] execution time (ms): %f", (1000*m_runtime.toNSec()));
 
     //Update poses
     PoseUpdate();